CN116312122A - Virtual simulation system and method for medical ultrasonic operation training - Google Patents
Virtual simulation system and method for medical ultrasonic operation training Download PDFInfo
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- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
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Abstract
The invention discloses a virtual simulation system and a virtual simulation method for medical ultrasonic operation training, wherein the system comprises: simulating a patient model; the magnetic field generating module is used for generating a direct current magnetic field; the simulation ultrasonic probe comprises a sensor module, and the pose of the sensor module is adopted to represent the pose of the simulation ultrasonic probe; the ultrasonic probe fixing bracket is used for initializing the pose of the simulated ultrasonic probe; the upper computer is internally provided with a virtual ultrasonic image generation system, and the virtual ultrasonic image generation system comprises medical image analysis software and a three-dimensional digital model of a human organ and is used for displaying an ultrasonic section image of the corresponding organ according to the real-time pose of the simulated ultrasonic probe. The invention uses a single electromagnetic ferromagnetic source and a single magnetic sensor to combine with an inertial measurement unit, simplifies the complexity of the traditional magnetic positioning system, and realizes a set of reliable, stable and convenient ultrasonic operation training virtual simulation system with low cost. The invention can be widely applied to the technical field of medical education equipment.
Description
Technical Field
The invention relates to the technical field of medical education equipment, in particular to a virtual simulation system and method for medical ultrasonic operation training.
Background
Medical ultrasound examination is capable of examining human tissue at multiple angles and multiple slices. When examining a specific disease, an ultrasonic doctor is required to move an ultrasonic probe to a specific pose along a specific track so as to obtain an optimal ultrasonic examination view angle, thereby improving the examination accuracy. Traditional ultrasound examination operation training is long in training time and poor in effect because experience is accumulated mainly through theoretical learning and clinical observation, and a relatively rare patient sample is difficult to be contacted by a learning ultrasonic doctor. By means of the digital virtual simulation system, the digital ultrasonic images can be observed in multiple angles and multiple directions by combining the 3D model, and diagnosis experience on various diseases can be accumulated better in a low-cost mode. However, in the existing virtual ultrasonic training system, six degrees of freedom parameters of the probe in the virtual scene are often required to be modified one by one in software, which is greatly different from an ultrasonic operation mode in actual situations.
The existing pose estimation method based on the optical sensing principle has the limitations of easy influence of shielding, low reliability and the like. The magnetic field positioning method has no harm to human body and no line of sight shielding problem, and is an ideal simulation probe positioning method. However, the positioning system based on the single magnetic source and the single magnetic sensor has the problem of positioning ambiguity, so that the existing electromagnetic pose estimation system needs to adopt a multi-magnetic source array or a multi-magnetic sensor array, and meanwhile, a large-size and complex-structure signal conditioning circuit is needed for pose estimation.
In summary, the existing ultrasonic operation training virtual simulation system has the defects of poor interactivity, low stability, complex structure, high cost, poor training effect and the like, and often cannot meet the actual use requirements.
Disclosure of Invention
In order to solve at least one of the technical problems existing in the prior art to a certain extent, the invention aims to provide a virtual simulation system and a virtual simulation method for medical ultrasonic operation training.
The technical scheme adopted by the invention is as follows:
a virtual simulation system for medical ultrasound operation training, comprising:
a simulated patient model, the interior of the simulated patient model being hollow;
the magnetic field generating module is placed in the simulation patient model and is used for generating a direct current magnetic field;
the simulation ultrasonic probe comprises a sensor module, and the pose of the sensor module is adopted to represent the pose of the simulation ultrasonic probe;
the ultrasonic probe fixing bracket is placed on the simulated patient model, and is fixed in pose and used for initializing the pose of the simulated ultrasonic probe;
the upper computer is connected with the simulation ultrasonic probe, a virtual ultrasonic image generation system is installed in the upper computer, and the virtual ultrasonic image generation system comprises medical image analysis software and a three-dimensional digital model of a human organ and is used for displaying a corresponding organ ultrasonic section image according to the real-time pose of the simulation ultrasonic probe.
Further, the simulation ultrasonic probe also comprises a shell and a circuit board arranged in the shell, wherein a microcontroller and the sensor module are arranged on the circuit board;
the sensor module includes: a triaxial angular velocity sensor that measures angular velocity, a triaxial acceleration sensor that measures acceleration, and a triaxial magnetic sensor that measures magnetic field strength.
Further, in the sensor module, the three-axis angular velocity sensor and the three-axis acceleration sensor are six-axis Inertial Measurement Units (IMUs), and the three-axis magnetic sensor is a patch-type three-axis hall magnetic sensor. The IMU serves as an additional information source for compensating for the lack of rotational freedom in the direction of the symmetry axis that exists when using a single magnetic sensor.
Further, the shell is manufactured in a 3D additive manufacturing or injection molding mode, and is made of engineering thermal plastic or polylactic resin.
Further, the housing is rigidly connected to the sensor module.
Further, the microcontroller is connected with the sensor module through an I2C bus.
Further, the magnetic field generating module comprises a magnetic source, a power supply and a power amplifier; the magnetic source is a single electromagnet, and the power supply is a 12V or 24V direct current power supply.
The invention adopts another technical scheme that:
a method for training ultrasonic operation by using a virtual simulation system, which is applied to the virtual simulation system for medical ultrasonic operation training, and comprises the following steps:
placing the simulated ultrasonic probe on an ultrasonic probe fixing bracket, and carrying out pose initialization calibration on the simulated ultrasonic probe;
scanning the simulated patient model by adopting the calibrated simulated ultrasonic probe, acquiring pose information by a sensor module, estimating the pose of the simulated ultrasonic probe according to the pose information, obtaining the pose of the probe, and transmitting the probe to an upper computer;
the upper computer inputs the received probe pose into a virtual ultrasonic image generation system, and the virtual ultrasonic image generation system calculates to obtain a virtual ultrasonic image and a three-dimensional virtual ultrasonic scene according to the probe pose and a preset three-dimensional digital model;
the trainee adjusts the pose of the simulation ultrasonic probe under the guidance of the virtual ultrasonic image and the three-dimensional virtual ultrasonic scene, exercises to obtain the ultrasonic section image of the target anatomy structure and focus, and completes the training target.
Further, the estimating the pose of the simulated ultrasonic probe according to the pose information includes:
establishing a global coordinate system, and representing all devices by using unified coordinates;
establishing a mathematical relationship model between the sensor measured value and the sensor pose;
establishing a kinematic model of the simulated ultrasonic probe, and analyzing sensor data by a computer by combining the kinematic model and a pose resolving algorithm to estimate the coordinate position and the pose angle of the simulated ultrasonic probe in a global coordinate system;
the sensor is arranged in the simulation ultrasonic probe and moves in a translational and rotational mode along with the simulation ultrasonic probe, and the pose of the sensor is used for representing the pose of the probe to be tested.
Further, the kinematic model is built based on a constant speed model, and the state quantity to be estimated is as follows:
X＝[x y z v x v y v z q 0 q 1 q 2 q 3 ]
the pose calculation algorithm is Extended Kalman Filtering (EKF), and a state equation and a sensor measurement equation of the system are established as follows:
X k+1 ＝AX k +G k w k
y k ＝h(X k )+v k
wherein x, y, z, v x v y v z q 0 q 1 q 2 q 3 Quaternion q=q, respectively for the position, velocity of the object in the inertial frame and expressing the rotation of the sensor coordinate frame s to the inertial frame n 0 +q 1 i+q 2 j+q 3 k；X k Representing the state quantity of the system at time k, G k Representing a process noise driving matrix, w k Representing the process noise of the system, Y k Representing the measured quantity of the system, v k Representing the measurement error variance of the system, a represents the system state transition matrix, h (X k ) Representing a measurement model of the system.
The beneficial effects of the invention are as follows: the invention uses a single electromagnetic ferromagnetic source and a single magnetic sensor to combine with an inertial measurement unit, simplifies the complexity of the traditional magnetic positioning system, and realizes a set of reliable, stable and convenient ultrasonic operation training virtual simulation system with low cost.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following description is made with reference to the accompanying drawings of the embodiments of the present invention or the related technical solutions in the prior art, and it should be understood that the drawings in the following description are only for convenience and clarity of describing some embodiments in the technical solutions of the present invention, and other drawings may be obtained according to these drawings without the need of inventive labor for those skilled in the art.
FIG. 1 is a schematic diagram of a virtual simulation system for medical ultrasound operation training in accordance with an embodiment of the present invention;
FIG. 2 is a flow chart of steps of a method for training ultrasonic operation using a virtual simulation system in accordance with an embodiment of the present invention;
FIG. 3 is an ultrasound image of a standard surface of a four-ventricle of a fetal heart obtained in an embodiment of the present invention;
fig. 4 is a virtual ultrasound image of a fetal congenital heart disease lesion cut surface obtained in an embodiment of the invention.
Reference numerals in fig. 1: 1. simulating a patient model; 2. a magnetic field generating module; 3. simulating an ultrasonic probe; 4. a sensor module; 5. a virtual ultrasound image generation system; 6. a microcontroller; 7. an upper computer; 8. an ultrasonic probe fixing bracket.
Reference numerals in fig. 3: 1. descending aorta; 2. the left atrium; 3. right atrium; 4. a left ventricle; 5. the right ventricle.
Reference numerals in fig. 4: 1. a left ventricle; 2. a right ventricle; 3. the left atrium; 4. an aorta; 5. the right auricle.
Detailed Description
Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative only and are not to be construed as limiting the invention. The step numbers in the following embodiments are set for convenience of illustration only, and the order between the steps is not limited in any way, and the execution order of the steps in the embodiments may be adaptively adjusted according to the understanding of those skilled in the art.
In the description of the present invention, it should be understood that references to orientation descriptions such as upper, lower, front, rear, left, right, etc. are based on the orientation or positional relationship shown in the drawings, are merely for convenience of description of the present invention and to simplify the description, and do not indicate or imply that the apparatus or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the present invention.
In the description of the present invention, a number means one or more, a number means two or more, and greater than, less than, exceeding, etc. are understood to not include the present number, and above, below, within, etc. are understood to include the present number. The description of the first and second is for the purpose of distinguishing between technical features only and should not be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.
In the description of the present invention, unless explicitly defined otherwise, terms such as arrangement, installation, connection, etc. should be construed broadly and the specific meaning of the terms in the present invention can be reasonably determined by a person skilled in the art in combination with the specific contents of the technical scheme.
Based on the prior art, the method controls the probe in the virtual scene by controlling the simulation entity probe and tracking the simulation entity probe in real time is a more natural interaction mode and can provide better training effect. The calculated pose parameters of the simulation probe are transmitted to the virtual ultrasonic image generating software, and the virtual ultrasonic image scanned by the ultrasonic probe at the corresponding position and angle and the three-dimensional virtual scene comprising the probe and the organ digital model are displayed at the same time, so that the ultrasonic training can be effectively finished by an ultrasonic doctor, and the diagnosis accuracy can be improved.
As shown in fig. 1, the present embodiment provides a virtual simulation system for medical ultrasound operation training, including:
a simulated patient model 1, the interior of the simulated patient model 1 being hollow;
a magnetic field generating module 2 placed inside the simulation patient model 1 for generating a direct current magnetic field;
the simulation ultrasonic probe 3 comprises a sensor module 4, and the pose of the simulation ultrasonic probe is represented by the pose of the sensor module;
the ultrasonic probe fixing bracket 8 is placed on the simulated patient model, has a fixed pose and is used for initializing the pose of the simulated ultrasonic probe;
the upper computer 7 is connected with the simulation ultrasonic probe, a virtual ultrasonic image generation system 5 is installed in the upper computer, and the virtual ultrasonic image generation system 5 comprises medical image analysis software and a three-dimensional digital model of a human organ and is used for displaying a corresponding organ ultrasonic section image according to the real-time pose of the simulation ultrasonic probe.
As an optional implementation manner, the simulated patient model is a limb-free simulated adult male or adult female or infant dummy model, and the interior of the simulated patient model is hollow and is used for placing a magnetic field generating module; comprises a magnetic source, a power supply and a power amplifier; optionally, the magnetic source is a single electromagnet, the coil diameter is 100mm, and the number of turns is 1000; the power supply is a 12V or 24V direct current power supply. An ultrasonic probe bracket with a known fixed pose is placed on the front surface of the simulated patient model and is used for initializing the pose of the ultrasonic probe.
The simulated ultrasound probe model includes: the shape of the sensor is the same as that of a real probe, and the sensor comprises a shell, a built-in pose measuring device (and a sensor module) and a microcontroller; the pose measuring device is provided with: a triaxial angular velocity sensor for measuring angular velocity, a triaxial acceleration sensor for measuring acceleration, a triaxial magnetic sensor for measuring magnetic field strength, and a signal processing module for preprocessing sensor signals. Optionally, the angular velocity sensor and the acceleration sensor are six-axis Inertial Measurement Units (IMUs), and the magnetic sensor used is a patch-type three-axis hall magnetic sensor; the IMU serves as an additional information source for compensating for the lack of rotational freedom in the direction of the symmetry axis that exists when using a single magnetic sensor. In this embodiment, the inertial measurement unit used is MPU6050, and the magnetic sensor is AK8963 type three-axis hall magnetometer.
Optionally, the ultrasonic probe model shell is manufactured by adopting 3D additive or injection molding, is made of engineering thermoplastic or polylactic resin, and has the same shape and size as those of the ultrasonic probe of the common model; the pose measuring device is arranged in the probe model and is rigidly connected with the probe model shell in a screw fixing mode, and the pose of the sensor is used for representing the pose of the probe model.
The upper computer is connected with a microcontroller in the simulation ultrasonic probe model through a universal serial bus; the microcontroller is connected with the pose measuring device through an I2C bus.
The working principle of the system is as follows: the magnetic field generating module 2 placed in the simulation patient model 1 is powered by a 12V dc power supply to generate a dc magnetic field; the sensor 4 and the microcontroller 6 are arranged inside the ultrasonic probe model 3 and are rigidly connected with the shell, so that the pose of the ultrasonic probe model is represented by the pose of the sensor. After the preparation work is finished, the ultrasonic probe model 3 is placed on the fixed support 8 on the front face of the simulated patient model 1, the pose tracking is started, the pose tracking result is stable, and the pose initialization of the ultrasonic probe model is completed. The scanning end of the ultrasonic probe model 3 carries out mobile scanning above the heart of the simulated patient model 1, and the sensor 4 measures various motion state parameters; the measurement data is filtered, amplified and the like by the microcontroller 6 and then transmitted to the upper computer 7 through a cable.
The upper computer 7 receives signals from the sensor 4, analyzes sensor data according to a kinematic model of the established ultrasonic probe model and combines an extended Kalman filtering algorithm, and estimates the coordinate position and the attitude angle of the ultrasonic probe model in a global coordinate system.
As an alternative embodiment, the kinematic model is built based on a constant speed model, and the state quantity to be estimated is:
X＝[xyzv x v y v z q 0 q 1 q 2 q 3 ]
wherein xyzv x v y v z q 0 q 1 q 2 q 3 Respectively the position and the speed of the object in the inertial systemQuaternion q=q expressing rotation of sensor coordinate system s to inertial system n 0 +q 1 i+q 2 j+q 3 k; the pose tracking algorithm is Extended Kalman Filter (EKF), and the state equation and the sensor measurement equation of the system are established as follows:
X k+1 ＝AX k +G k w k
y k ＝h(X k )+v k
the upper computer 7 obtains the pose estimation result and inputs the pose estimation result into the virtual ultrasonic image generation system 5, and the virtual ultrasonic image generation system 5 updates the virtual ultrasonic image according to the pose data; the trainee adjusts the pose of the ultrasonic probe model 3 under the guidance of the virtual ultrasonic image and the three-dimensional virtual ultrasonic scene, and exercises to obtain the ultrasonic section image of the target anatomy structure and focus, thus completing the training target.
Based on the above-mentioned virtual simulation system, as shown in fig. 2, the present embodiment further provides a method for performing ultrasonic operation training by using the virtual simulation system, including the following steps:
s1, placing the simulated ultrasonic probe on an ultrasonic probe fixing bracket, and carrying out pose initialization calibration on the simulated ultrasonic probe.
Preparing each item required by ultrasonic examination according to the operation specification; connecting an ultrasonic probe model data cable with a computer, and opening a virtual ultrasonic scene system; pose initialization calibration: and placing the ultrasonic probe model on a fixed support on the front surface of the simulated patient model, starting pose tracking, waiting for the stable pose tracking result, and finishing the pose initialization of the ultrasonic probe model.
S2, scanning the simulated patient model by adopting the calibrated simulated ultrasonic probe, acquiring pose information by the sensor module, estimating the pose of the simulated ultrasonic probe according to the pose information, obtaining the pose of the probe, and transmitting the probe to the upper computer.
The scanning end of the ultrasonic probe model is tightly attached to the skin surface of the dummy, and the moving scanning is carried out above the organ to be inspected; and the program in the microcontroller carries out pose estimation on the ultrasonic probe model by using a pose calculation algorithm according to the received sensor data and sends the pose estimation to the upper computer.
And S3, the upper computer inputs the received probe pose into a virtual ultrasonic image generation system, and the virtual ultrasonic image generation system calculates to obtain a virtual ultrasonic image and a three-dimensional virtual ultrasonic scene according to the probe pose and a preset three-dimensional digital model.
S4, the trainee adjusts the pose of the simulation ultrasonic probe under the guidance of the virtual ultrasonic image and the three-dimensional virtual ultrasonic scene, and exercises to obtain the ultrasonic section image of the target anatomical structure and the focus, thereby completing the training target.
Referring to fig. 3 and 4, fig. 3 is an ultrasonic image of a standard surface of a four-ventricle of a fetal heart, obtained in an embodiment of the present invention, wherein 1 is the descending aorta; 2 is the left atrium; 3 is the right atrium; 4 is the left ventricle; and 5 is the right ventricle. FIG. 4 is a virtual ultrasound image of a fetal congenital heart disease lesion cut surface obtained in an embodiment of the invention, wherein 1 is the left ventricle; 2 is the right ventricle; 3 is the left atrium; 4 is the aorta; and 5 is the right auricle.
As an optional implementation manner, the step of performing pose estimation on the ultrasonic probe model in step S2 specifically includes the following steps:
step one, a global coordinate system is established, and all devices are represented by unified coordinates;
establishing a mathematical relationship model between the sensor measured value and the sensor pose;
thirdly, establishing a kinematic model of the ultrasonic probe model, and analyzing sensor data by a computer by combining the model with a proper pose resolving algorithm to estimate the coordinate position and the pose angle of the ultrasonic probe model in a global coordinate system;
the kinematic model is built based on a constant speed model, and the state quantity to be estimated is as follows:
X＝[x y z v x v y v z q 0 q 1 q 2 q 3 ]
the pose tracking algorithm is Extended Kalman Filter (EKF), and the state equation and the sensor measurement equation of the system are established as follows:
X k+1 ＝AX k +G k w k
y k ＝h(X k )+v k
wherein x, y, z, v x v y v z Quaternion q=q, respectively for the position, velocity of the object in the inertial frame and expressing the rotation of the sensor coordinate frame s to the inertial frame n 0 +q 1 i+q 2 j+q 3 k；
Fourthly, the sensor is arranged in the ultrasonic probe model and moves in a translational and rotational mode along with the probe shell; the sensor pose represents the pose of the probe to be measured.
In some alternative embodiments, the functions/acts noted in the block diagrams may occur out of the order noted in the operational illustrations. For example, two blocks shown in succession may in fact be executed substantially concurrently or the blocks may sometimes be executed in the reverse order, depending upon the functionality/acts involved. Furthermore, the embodiments presented and described in the flowcharts of the present invention are provided by way of example in order to provide a more thorough understanding of the technology. The disclosed methods are not limited to the operations and logic flows presented herein. Alternative embodiments are contemplated in which the order of various operations is changed, and in which sub-operations described as part of a larger operation are performed independently.
Furthermore, while the invention is described in the context of functional modules, it should be appreciated that, unless otherwise indicated, one or more of the described functions and/or features may be integrated in a single physical device and/or software module or one or more functions and/or features may be implemented in separate physical devices or software modules. It will also be appreciated that a detailed discussion of the actual implementation of each module is not necessary to an understanding of the present invention. Rather, the actual implementation of the various functional modules in the apparatus disclosed herein will be apparent to those skilled in the art from consideration of their attributes, functions and internal relationships. Accordingly, one of ordinary skill in the art can implement the invention as set forth in the claims without undue experimentation. It is also to be understood that the specific concepts disclosed are merely illustrative and are not intended to be limiting upon the scope of the invention, which is to be defined in the appended claims and their full scope of equivalents.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
Logic and/or steps represented in the flowcharts or otherwise described herein, e.g., a ordered listing of executable instructions for implementing logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device.
More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). In addition, the computer readable medium may even be paper or other suitable medium on which the program is printed, as the program may be electronically captured, via, for instance, optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner, if necessary, and then stored in a computer memory.
It is to be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above-described embodiments, the various steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, may be implemented using any one or combination of the following techniques, as is well known in the art: discrete logic circuits having logic gates for implementing logic functions on data signals, application specific integrated circuits having suitable combinational logic gates, programmable Gate Arrays (PGAs), field Programmable Gate Arrays (FPGAs), and the like.
In the foregoing description of the present specification, reference has been made to the terms "one embodiment/example", "another embodiment/example", "certain embodiments/examples", and the like, means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that: many changes, modifications, substitutions and variations may be made to the embodiments without departing from the spirit and principles of the invention, the scope of which is defined by the claims and their equivalents.
While the preferred embodiment of the present invention has been described in detail, the present invention is not limited to the above embodiments, and various equivalent modifications and substitutions can be made by those skilled in the art without departing from the spirit of the present invention, and these equivalent modifications and substitutions are intended to be included in the scope of the present invention as defined in the appended claims.
Claims (10)
1. A virtual simulation system for medical ultrasound operation training, comprising:
a simulated patient model, the interior of the simulated patient model being hollow;
the magnetic field generating module is placed in the simulation patient model and is used for generating a direct current magnetic field;
the simulation ultrasonic probe comprises a sensor module, and the pose of the sensor module is adopted to represent the pose of the simulation ultrasonic probe; the ultrasonic probe fixing bracket is placed on the simulated patient model, and is fixed in pose and used for initializing the pose of the simulated ultrasonic probe;
the upper computer is connected with the simulation ultrasonic probe, a virtual ultrasonic image generation system is installed in the upper computer, and the virtual ultrasonic image generation system comprises medical image analysis software and a three-dimensional digital model of a human organ and is used for displaying a corresponding organ ultrasonic section image according to the real-time pose of the simulation ultrasonic probe.
2. The virtual simulation system for medical ultrasound operation training of claim 1, wherein the simulated ultrasound probe further comprises a housing and a circuit board disposed within the housing, the circuit board having a microcontroller and the sensor module disposed thereon;
the sensor module includes: a triaxial angular velocity sensor that measures angular velocity, a triaxial acceleration sensor that measures acceleration, and a triaxial magnetic sensor that measures magnetic field strength.
3. The virtual simulation system for medical ultrasonic operation training according to claim 2, wherein in the sensor module, a three-axis angular velocity sensor and a three-axis acceleration sensor are six-axis inertial measurement units, and the three-axis magnetic sensor is a patch-type three-axis hall magnetic sensor.
4. The virtual simulation system for medical ultrasonic operation training according to claim 2, wherein the shell is made of engineering thermoplastic or polylactic resin by adopting a 3D additive manufacturing or injection molding mode.
5. A virtual simulation system for medical ultrasound procedure training according to claim 2, wherein the housing is rigidly connected to the sensor module.
6. A virtual simulation system for medical ultrasound operation training according to claim 2, wherein the microcontroller is connected to the sensor module via an I2C bus.
7. The virtual simulation system for medical ultrasound operation training of claim 1, wherein the magnetic field generation module comprises a magnetic source, a power source, and a power amplifier; the magnetic source is a single electromagnet, and the power supply is a 12V or 24V direct current power supply.
8. A method for training ultrasound operation using a virtual simulation system, applied to a virtual simulation system for medical ultrasound operation training as set forth in any one of claims 1-7, comprising the steps of:
placing the simulated ultrasonic probe on an ultrasonic probe fixing bracket, and carrying out pose initialization calibration on the simulated ultrasonic probe;
scanning the simulated patient model by adopting the calibrated simulated ultrasonic probe, acquiring pose information by a sensor module, estimating the pose of the simulated ultrasonic probe according to the pose information, obtaining the pose of the probe, and transmitting the probe to an upper computer;
the upper computer inputs the received probe pose into a virtual ultrasonic image generation system, and the virtual ultrasonic image generation system calculates to obtain a virtual ultrasonic image and a three-dimensional virtual ultrasonic scene according to the probe pose and a preset three-dimensional digital model;
the trainee adjusts the pose of the simulation ultrasonic probe under the guidance of the virtual ultrasonic image and the three-dimensional virtual ultrasonic scene, exercises to obtain the ultrasonic section image of the target anatomy structure and focus, and completes the training target.
9. The method for performing ultrasonic operation training using a virtual simulation system according to claim 8, wherein the performing pose estimation on the simulated ultrasonic probe according to the pose information comprises:
establishing a global coordinate system, and representing all devices by using unified coordinates;
establishing a mathematical relationship model between the sensor measured value and the sensor pose;
establishing a kinematic model of the simulated ultrasonic probe, and analyzing sensor data by a computer by combining the kinematic model and a pose resolving algorithm to estimate the coordinate position and the pose angle of the simulated ultrasonic probe in a global coordinate system;
the sensor is arranged in the simulation ultrasonic probe and moves in a translational and rotational mode along with the simulation ultrasonic probe, and the pose of the sensor is used for representing the pose of the probe to be tested.
10. The method for training ultrasonic operation by using a virtual simulation system according to claim 9, wherein the kinematic model is built based on a constant velocity model, and the state quantity to be estimated is:
X＝[x y z v x v y v z q 0 q 1 q 2 q 3 ]
the pose resolving algorithm is extended Kalman filtering, and a state equation and a sensor measuring equation of the system are established as follows:
X k+1 ＝AX k +G k w k
Y k ＝h(X k )+v k
wherein x, y, z, v x v y v z q 0 q 1 q 2 q 3 Quaternion q=q, respectively for the position, velocity of the object in the inertial frame and expressing the rotation of the sensor coordinate frame s to the inertial frame n 0 +q 1 i+q 2 j+q 3 k；X k Representing the state quantity of the system at time k, G k Representing a process noise driving matrix, w k Representing the process noise of the system, Y k Representing the measured quantity of the system, v k Representing the measurement error variance of the system, a represents the system state transition matrix, h (X k ) Representing a measurement model of the system.
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